def on_mining_move_probe_clicked__slot(self):
message = MiningControlMessage()
message.tilt_set_absolute = PROBE_POSITION_TILT
message.lift_set_absolute = PROBE_POSITION_LIFT
message.cal_factor = -1
self.mining_control_publisher.publish(message)
def send_mining_home_on_back_press(self):
message = MiningControlMessage()
back_state = self.controller.controller_states["back_button"]
if self.last_back_button_state == 0 and back_state == 1:
message.motor_go_home = True
self.mining_control_publisher.publish(message)
self.last_back_button_state = 1
elif self.last_back_button_state == 1 and back_state == 0:
self.last_back_button_state = 0
def send_mining_commands(self):
left_y_axis = self.controller.controller_states["left_y_axis"] if abs(
self.controller.controller_states["left_y_axis"]
) > LEFT_Y_AXIS_DEADZONE else 0
right_y_axis = self.controller.controller_states["right_y_axis"] if abs(
self.controller.controller_states["right_y_axis"]
) > RIGHT_Y_AXIS_DEADZONE else 0
message = MiningControlMessage()
if left_y_axis:
message.linear_set_position_absolute = (
(left_y_axis / THUMB_STICK_MAX) * MINING_LINEAR_SCALAR)
self.mining_control_publisher.publish(message)
if right_y_axis:
message.motor_set_position_absolute = (
(right_y_axis / THUMB_STICK_MAX) * MINING_MOTOR_SCALAR)
self.mining_control_publisher.publish(message)
def send_mining_commands(self):
left_y_axis = self.controller.controller_states["left_y_axis"] if abs(
self.controller.controller_states["left_y_axis"]) > LEFT_Y_AXIS_DEADZONE else 0
right_y_axis = self.controller.controller_states["right_y_axis"] if abs(self.controller.controller_states[
"right_y_axis"]) > RIGHT_Y_AXIS_DEADZONE else 0
if left_y_axis or right_y_axis:
message = MiningControlMessage()
message.lift_set_absolute = 1024
message.tilt_set_absolute = 1024
message.lift_set_relative = (-(left_y_axis / THUMB_STICK_MAX) * MINING_LIFT_SCALAR)
message.tilt_set_relative = ((right_y_axis / THUMB_STICK_MAX) * MINING_TILT_SCALAR)
message.cal_factor = -1
self.mining_control_publisher.publish(message)
def on_science_container_close_clicked__slot(self):
message = MiningControlMessage()
message.servo2_target = CONTAINER_CLOSED
message.servo1_target = SCOOP_DROP_POSITION
self.mining_control_publisher.publish(message)
def on_science_probe_clicked__slot(self):
message = MiningControlMessage()
message.probe_take_reading = True
self.mining_control_publisher.publish(message)
def on_science_scoop_down_clicked__slot(self):
message = MiningControlMessage()
message.servo1_target = SCOOP_DROP_POSITION
self.mining_control_publisher.publish(message)
def on_mining_toggle_overtravel_clicked__slot(self):
message = MiningControlMessage()
message.overtravel = True
self.mining_control_publisher.publish(message)
def on_mining_home_linear_clicked__slot(self):
message = MiningControlMessage()
message.motor_go_home = True
self.mining_control_publisher.publish(message)
def on_mining_close_clicked__slot(self):
message = MiningControlMessage()
message.servo1_target = MINING_COLLECTION_CUP_CLOSED
self.mining_control_publisher.publish(message)
def fourbar_position_slider__slot(self):
message = MiningControlMessage()
message.linear_p = self.fourbar_position_slider.value()
self.mining_control_publisher.publish(message)